High-precision three-dimensional data acquisition device based on two-dimensional radar

Abstract

The utility model discloses a high-precision three-dimensional data acquisition device based on a two-dimensional radar, which comprises a lower box body, an upper box cover, the radar and a radar base, the upper box cover is arranged on the lower box body, an X-shaped pan-tilt motor bracket is arranged in the lower box body, the X-shaped pan-tilt motor bracket is provided with a slip ring and a pan-tilt motor through threaded connection, and the slip ring and the pan-tilt motor are arranged on the radar base. The sliding ring is located at a central hollow hole of the pan-tilt motor and is coaxial with the pan-tilt motor, the radar base connecting piece is connected with the radar base, and the first base supporting piece, the second base supporting piece and the radar are arranged above the radar base. According to the device, the X-shaped holder motor is controlled to rotate, the radar body is driven to rotate circumferentially, the rotation rate of the holder motor is adjusted, information scanned by the two-dimensional radar is combined with information of rotation of the holder motor, three-dimensional information with higher precision can be obtained, operability is high, the structure is compact, and practicability is high.

Description

Technical Field

[0001] This utility model discloses a high-precision three-dimensional data acquisition device based on two-dimensional radar, belonging to the field of laser detection technology. Background Technology

[0002] 3D data acquisition technology has been widely applied in various fields such as autonomous driving, robot navigation, terrain mapping, and construction engineering. Traditional 3D data acquisition equipment, such as LiDAR and optical imaging systems, while achieving some progress in accuracy and real-time performance, still suffers from drawbacks, such as large size, high cost, and sensitivity to environmental conditions. These limitations restrict their application in certain scenarios, especially those requiring high precision.

[0003] Two-dimensional radar is simple in structure, low in cost, and has strong anti-jamming capabilities. It can effectively acquire distance information of target objects and has good penetration capabilities under adverse weather conditions. However, traditional two-dimensional radar can only provide distance and angle information of the target, and cannot directly provide complete three-dimensional spatial information, which limits its application in some high-precision three-dimensional data acquisition needs.

[0004] How to effectively acquire high-precision three-dimensional data using two-dimensional radar technology has become a pressing technical challenge in the field of radar technology. This invention proposes a high-precision three-dimensional data acquisition device based on two-dimensional radar, providing a low-cost, high-precision device capable of reliable operation in complex environments. Utility Model Content

[0005] The purpose of this invention is to provide a high-precision three-dimensional data acquisition device based on two-dimensional radar to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A high-precision three-dimensional data acquisition device based on two-dimensional radar is characterized in that the device includes a lower housing, an upper housing cover, a radar, and a radar base. The upper housing cover is installed on the lower housing. An X-shaped gimbal motor bracket is installed inside the lower housing. The X-shaped gimbal motor bracket is threadedly connected to a slip ring and a gimbal motor. The slip ring is located at the central hollow hole of the gimbal motor and is coaxial with it. The gimbal motor is threadedly connected to the base of a first connecting flange. A first bearing is fitted on the shaft of the first connecting flange and is installed in a first bearing seat. The first bearing seat is installed inside the lower housing. A second bearing is fitted on the front end shaft of the first connecting flange and is installed in a second bearing seat. The second bearing seat is screwed onto the lower housing and the upper housing cover. The front end of the first connecting flange and the second connecting flange are threadedly connected and fixed together, with a sealing gasket installed between them. A radar base connector is installed on the second connecting flange and connected to the radar base. A first base support, a second base support, and the radar are installed above the radar base.

[0008] Preferably, the lower housing has bosses with first through holes, second threaded holes, and third threaded through holes at both ends of the rear wall and inside the bottom. Four fourth threaded holes are provided at the four corners of the housing wall. The lower housing is fixed to the environment through the first through holes on the bosses at both ends of the rear wall. The X-type gimbal motor bracket and the first bearing seat are fixed inside the housing through the second and third threaded through holes on the bosses at the bottom of the lower housing.

[0009] Preferably, the lower housing has four fourth threaded holes at its four corners, and the front housing has two first threaded holes. The upper housing has four fourth through holes at its four corners, and two fifth threaded holes on its front housing wall. The upper housing is mounted on the lower housing via the fourth through holes and the threaded holes at the four corners of the lower housing. The second bearing seat is fixed to the housing wall via the first threaded holes in the lower housing and the fifth threaded holes on the front housing wall of the upper housing. The upper housing is mounted on the lower housing via the fourth through holes and the fourth threaded holes.

[0010] Preferably, the X-type gimbal motor bracket has three sixth threaded holes in the middle and a fifth through hole at each of the four ends. The slip ring is fixed to the X-type gimbal bracket through the middle sixth threaded hole, and the gimbal motor is fixed to the bracket through the four fifth through holes at the ends.

[0011] Preferably, the first connecting plate has four sixth through holes on its end base and several seventh threaded holes on its front end. The gimbal motor is connected to the first connecting flange through the sixth through holes on the base, and the sealing gasket and the second connecting flange are installed on the first connecting flange through the seventh threaded holes on the front end.

[0012] Preferably, the second connecting flange has several seventh through holes, and the radar base connector is connected to the second connecting flange through the through holes.

[0013] Preferably, the radar base connector has four ninth through holes at its bottom, and the radar base has four tenth through holes near the end of the radar connector. The first base support and the second base support each have two seventh threaded holes on their two right-angled long sides. The radar base connector and the radar base are fixed to the support through the threaded holes on the first base support and the second base support.

[0014] Preferably, the radar base has four eleventh through holes in the middle, and the radar is fixed to the radar base through the eleventh through holes.

[0015] The beneficial effects of this utility model are:

[0016] This device controls the rotation of an X-shaped gimbal motor, which drives the radar body to rotate in a circle. By adjusting the rotation speed of the gimbal motor and combining the information from the two-dimensional radar scan with the information from the rotation of the gimbal motor, higher-precision three-dimensional information can be obtained. It is highly operable, compact in structure, and highly practical. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 for Figure 1 A schematic diagram showing the box without a lid;

[0019] Figure 3 Schematic diagram of the lower box structure Figure 1 ;

[0020] Figure 4 Schematic diagram of the lower box structure Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the upper box cover structure;

[0022] Figure 6 This is a schematic diagram of the X-type gimbal motor support structure;

[0023] Figure 7 This is a schematic diagram of the first connecting flange structure;

[0024] Figure 8 This is a schematic diagram of the second connecting flange structure;

[0025] Figure 9 This is a schematic diagram of the radar base connector structure;

[0026] Figure 10 This is a schematic diagram of the radar base structure;

[0027] Figure 11 This is a schematic diagram of the base support structure;

[0028] The diagram shows the following components: 1. Lower housing; 2. Upper housing cover; 3. Radar; 4. Radar base; 5. Second base support; 6. First base support; 7. Radar base connector; 8. Sealing gasket; 9. First bearing seat; 10. X-type gimbal motor bracket; 11. Slip ring; 12. Gimbal motor; 13. First connecting flange; 14. First bearing; 15. Second bearing seat; 16. Second bearing; 17. Second connecting flange; 18. First through hole 3-1; 19. First threaded hole 3-2; 20. Threaded hole 3-3; 31. Threaded hole 3-4; 42. Threaded hole 3-5; 43. Through hole 4-1; 54. Threaded hole 4-2; 55. Through hole 5-1; 64. Threaded hole 5-2; 65. Through hole 6-1; 76. Threaded hole 6-2; 77. Through hole 7-1; 88. Through hole 8-1; 96. Through hole 8-2; 10. Through hole 9-1; 11. Through hole 9-2; 88. Threaded hole 10-1. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0030] Please see Figure 1-11 This utility model proposes a technical solution: a high-precision two-dimensional to three-dimensional lidar device, including a lower housing 1, an upper housing cover 2, a radar 3, and a radar base 4. The upper housing cover 2 is installed on the lower housing 1. An X-shaped gimbal motor bracket 10 is installed inside the lower housing 1. The X-shaped gimbal motor bracket 10 is threadedly connected to a slip ring 11 and a gimbal motor 12. The slip ring 11 is located at the central hollow hole of the gimbal motor 12 and is coaxial with it. The gimbal motor 12 is threadedly connected to the base of a first connecting flange 13. A first bearing 14 is sleeved on the shaft of the first connecting flange 13 and is installed in a first bearing seat 9. The first bearing housing 9 is installed inside the lower housing 1. The second bearing 16 is sleeved on the front end shaft of the first connecting flange 13. The second bearing 16 is installed in the second bearing housing 15. The second bearing housing 15 is installed on the lower housing 1 and the upper housing cover 2 by screws. The front end of the first connecting flange 13 is fixed together with the second connecting flange 17 by threaded connection, and a sealing gasket 8 is installed between the two. A radar base connector 7 is installed on the second connecting flange 17. The radar base connector 7 is connected to the radar base 4. The radar base 4 is equipped with a first base support 6, a second base support 5, and a radar 3.

[0031] Preferably, the lower housing 1 has bosses with first through holes 3-1, second threaded holes 3-3, and third threaded through holes 3-4 at both ends of the rear wall and inside the bottom. Four fourth threaded holes 3-5 are provided at the four corners of the housing wall. The lower housing 1 is fixed to the environment through the first through holes on the bosses at both ends of the rear wall. The X-type gimbal motor bracket 10 and the first bearing seat 9 are fixed inside the housing through the second threaded holes 3-3 and third threaded through holes 3-4 on the bosses at the bottom of the lower housing.

[0032] Preferably, the lower housing 1 has four fourth threaded holes 3-5 at its four corners on its inner wall, and two first threaded holes 3-2 on its front wall. The upper housing cover 2 has four fourth through holes 4-1 at its four corners on its wall, and two fifth threaded holes 4-2 on its front wall. The upper housing cover 2 is mounted on the lower housing 1 through the fourth through holes 4-1 and the threaded holes 3-5 at the four corners of the lower housing wall. The second bearing seat 9 is fixed to the housing wall through the first threaded hole 3-2 of the lower housing 1 and the fifth threaded hole 4-2 on the front wall of the upper housing cover 2. The upper housing cover 2 is mounted on the lower housing 1 through the fourth through holes 4-1 and the fourth threaded holes 3-5.

[0033] Preferably, the X-type gimbal motor bracket 10 has three sixth threaded holes 5-2 at the middle position and a fifth through hole 5-1 at each of the four end positions. The slip ring 11 is fixed to the X-type gimbal bracket 10 through the middle sixth threaded hole 5-2, and the gimbal motor 12 is fixed to the bracket through the four fifth through holes 5-1 at the ends.

[0034] Preferably, the first connecting plate 13 has four sixth through holes 6-1 on its end base and several seventh threaded holes 6-2 on its front end. The gimbal motor 12 is connected to the first connecting flange 13 through the sixth through holes 6-1 on the base. The sealing gasket 8 and the second connecting flange 17 are installed on the first connecting flange 13 through the seventh threaded holes 6-2 on the front end.

[0035] Preferably, the second connecting flange 17 has a plurality of seventh through holes 7-1, and the radar base connector 7 is connected to the second connecting flange 17 through the through holes 7-1.

[0036] Preferably, the radar base connector 7 has four ninth through holes 8-2 at its bottom, and the radar base 4 has four tenth through holes 9-1 near the end of the radar connector 7. The first base support 6 and the second base support 5 each have two seventh threaded holes 10-1 on their two right-angled long sides. The radar base connector 7 and the radar base 4 are fixed to the support through the threaded holes 10-1 on the first base support 6 and the second base support 5.

[0037] Preferably, the radar base 4 has four eleventh through holes 9-2 at the middle position, and the radar is fixed to the radar base 4 through the eleventh through holes 9-2.

[0038] In this invention, during use, when the two-dimensional radar is in working mode, it acquires two-dimensional information in real time. The gimbal motor 12 drives the first connecting flange 13 to rotate, which in turn drives the second connecting flange 17 to rotate. The second connecting flange 17 then drives the radar base connector 7 to rotate, ultimately causing the radar body 3 to perform circular motion. By combining the rotation information of the gimbal motor 12 and the scanning information of the two-dimensional radar, three-dimensional information is obtained. Reducing the rotation speed of the gimbal motor 12 can yield more precise three-dimensional information.

[0039] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A high-precision three-dimensional data acquisition device based on two-dimensional radar, characterized by, The device includes a lower housing, an upper housing cover, a radar, and a radar base. The upper housing cover is mounted on the lower housing. An X-shaped gimbal motor bracket is installed inside the lower housing. The X-shaped gimbal motor bracket is threadedly connected to a slip ring and a gimbal motor. The slip ring is located at the central hollow hole of the gimbal motor and is coaxial with it. The gimbal motor is threadedly connected to the base of a first connecting flange. A first bearing is fitted on the shaft of the first connecting flange and is installed in a first bearing seat. The first bearing seat is installed inside the lower housing. A second bearing is fitted on the front end shaft of the first connecting flange and is installed in a second bearing seat. The second bearing seat is screwed onto the lower housing and the upper housing cover. The front end of the first connecting flange and the second connecting flange are threadedly connected and fixed together, with a sealing gasket installed between them. A radar base connector is mounted on the second connecting flange and connected to the radar base. A first base support, a second base support, and the radar are mounted on top of the radar base.

2. The high-precision three-dimensional data acquisition device based on two-dimensional radar according to claim 1, characterized in that, The lower housing has bosses with first through holes, second threaded holes, and third threaded through holes on the left and right ends of the rear housing wall and inside the bottom of the housing. The housing wall has four fourth threaded holes at the four corners. The lower housing is fixed to the environment through the first through holes on the bosses on the left and right ends of the rear housing wall. The X-type gimbal motor bracket and the first bearing seat are fixed inside the housing through the second threaded holes and third threaded through holes on the bosses at the bottom of the lower housing.

3. The high-precision three-dimensional data acquisition apparatus based on two-dimensional radar according to claim 1, wherein The lower housing has four fourth threaded holes at the four corners of its inner wall and two first threaded holes at the front wall. The upper housing has four fourth through holes at the four corners of its inner wall and two fifth threaded holes at the front wall. The upper housing is installed on the lower housing through the fourth through holes and the threaded holes at the four corners of the lower housing. The second bearing seat is fixed to the housing wall through the first threaded hole in the lower housing and the fifth threaded hole on the front wall of the upper housing. The upper housing is installed on the lower housing through the fourth through hole and the fourth threaded hole.

4. The high-precision three-dimensional data acquisition apparatus based on two-dimensional radar according to claim 1, wherein The X-shaped gimbal motor bracket has three sixth threaded holes in the middle and a fifth through hole at each of the four ends. The slip ring is fixed to the X-shaped gimbal bracket through the middle sixth threaded hole, and the gimbal motor is fixed to the bracket through the four fifth through holes at the ends.

5. The high-precision three-dimensional data acquisition apparatus based on two-dimensional radar according to claim 1, wherein The first connecting plate has four sixth through holes on its end base and several seventh threaded holes on its front end. The gimbal motor is connected to the first connecting flange through the sixth through holes on the base. The sealing gasket and the second connecting flange are installed on the first connecting flange through the seventh threaded holes on the front end.

6. The high-precision three-dimensional data acquisition apparatus based on two-dimensional radar according to claim 1, wherein The second connecting flange has several seventh through holes, and the radar base connector is connected to the second connecting flange through the through holes.

7. The high-precision three-dimensional data acquisition apparatus based on two-dimensional radar according to claim 1, wherein The bottom of the radar base connector has four ninth through holes, and the radar base has four tenth through holes near the end of the radar connector. The two long right-angle sides of the first base support and the second base support each have two seventh threaded holes. The radar base connector and the radar base are fixed to the support through the threaded holes on the first base support and the second base support.

8. The high-precision three-dimensional data acquisition apparatus based on two-dimensional radar according to claim 1, wherein The radar base has four eleventh through holes in the middle, and the radar is fixed to the radar base through the eleventh through holes.

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